Pierangelo Masarati
Papers
10
Total Citations
115
H-Index
6
About
Pierangelo Masarati is a leading figure in multibody dynamics and robotics, renowned for his pioneering work in real-time simulation and control of complex mechanical systems. His research spans the locomotion of lightweight robots on yielding terrains, where he demonstrated that ground fluidization enables a 25-gram robot to achieve speeds of up to 5 body lengths per second on granular substrates—a feat approaching that of desert lizards (34 citations). Masarati’s major contributions include developing general-purpose multibody software, such as MBDyn, for real-time hardware-in-the-loop simulation and inverse dynamics control of parallel manipulators (16 citations). He has also advanced kinematic inversion for redundant mechanisms and control constraint realization for underactuated aerospace systems, with applications in space robotics and trajectory optimization. His work on walking and running over yielding ground (15 citations) further elucidates locomotor mechanics on deformable surfaces. With over 100 citations across his most influential papers, Masarati’s integration of multibody modeling with real-time control has profoundly impacted robotics, aerospace engineering, and biomechanics, offering students and researchers robust tools for simulating and controlling complex, dynamic systems.
Research Focus
Key Achievements
Top Papers
- 1Ground fluidization promotes rapid running of a lightweight robot34 citations · 2013
- 2
- 3Walking and running on yielding and fluidizing ground15 citations · 2012
- 4
- 5A REAL-TIME HARDWARE-IN-THE-LOOP SIMULATOR FOR ROBOTICS APPLICATIONS11 citations · 2005
- 6A Simple Approach to Kinematic Inversion of Redundant Mechanisms10 citations · 2007
- 7
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- 9Modeling and Simulation of a 3D Printer Based on a SCARA Mechanism3 citations · 2016
- 10